ROS与Bebop-底层

ROS与Bebop-底层

说明：

• 介绍驱动结构和不同开发技术

待发布

• Automatic Code Generation
• Threading Model
• Publishing the States
• Configuring the Drone

测试

• 启用测试模式

$ cd /path/to/bebop_ws
$ catkin clean --cmake-cache
$ catkin build bebop_driver --cmake-args -DRUN_HARDWARE_TESTS=ON

• 运行测试
  • 测试请保持Bebop 5米半径的范围没有障碍物
  • 测试方法：

$ cd /path/to/bebop_ws/build/bebop_driver
$ make tests
$ rostest --text bebop_driver bebop_itl_test.test

更新SDK

• version 0.6之后，Parrot ARSDK，bebop_autonomy的主要底层依赖不再建立内联
• 替代为少量补丁和catkin编译的版本，叫parrot_arsdk
• 以下的文档需要做更新

• Update the GIT_TAG of ARDroneSDK3 in bebop_driver/CMakeLists.txt::add_custom_target::./repo init ... -b GIT_TAG to your desired commit hash, branch or tag (release). The official upstream repository is hosted here.
• Checkout (or browse) the upstream repository at the same hash used in step (1) and open release.xml file. From this file, extract the commit hash of arsdk-xml from the revision property of this XML tag: <project name="arsdk-xml" ... revision="" />.
• Open bebop_driver/scripts/meta/generate.py and update LIBARCOMMANDS_GIT_HASH variable to the hash obtained in step (2).
• Change the working diretory to bebop_driver/scripts/meta, then execute generate.py from the command line. This will regenerate all automatically generated message definitions, header files and documentations.
• Copy the generated files to their target locations by calling ./install.sh.
• In bebop_driver/include/bebop_driver/autogenerated/ardrone3_setting_callbacks.h change the following varialbles:

ARCONTROLLER_DICTIONARY_KEY_ARDRONE3_PILOTINGSETTINGSSTATE_MAXDISTANCECHANGED_VALUE to ARCONTROLLER_DICTIONARY_KEY_ARDRONE3_PILOTINGSETTINGSSTATE_MAXDISTANCECHANGED_CURRENT.
ARCONTROLLER_DICTIONARY_KEY_ARDRONE3_PILOTINGSETTINGSSTATE_BANKEDTURNCHANGED_VALUE to ARCONTROLLER_DICTIONARY_KEY_ARDRONE3_PILOTINGSETTINGSSTATE_BANKEDTURNCHANGED_STATE
ARCONTROLLER_DICTIONARY_KEY_ARDRONE3_PILOTINGSETTINGSSTATE_CIRCLINGRADIUSCHANGED_VALUE to ARCONTROLLER_DICTIONARY_KEY_ARDRONE3_PILOTINGSETTINGSSTATE_CIRCLINGRADIUSCHANGED_CURRENT
ARCONTROLLER_DICTIONARY_KEY_ARDRONE3_PILOTINGSETTINGSSTATE_CIRCLINGALTITUDECHANGED_VALUE to ARCONTROLLER_DICTIONARY_KEY_ARDRONE3_PILOTINGSETTINGSSTATE_CIRCLINGALTITUDECHANGED_CURRENT

• These changes are required becasue the upstream XML file is inconsistent for a couple of variable names.

• Remove build and devel space of your catkin workspace, then re-build it.